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<a href="ukf__samples_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/* ukf_samples.h</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> * Copyright (C) 2011-2014 Jeremy Fix</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * This program is free software; you can redistribute it and/or modify</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * it under the terms of the GNU General Public License as published by</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> * the Free Software Foundation; either version 3 of the License, or (at</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> * your option) any later version.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * This program is distributed in the hope that it will be useful, but</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * WITHOUT ANY WARRANTY; without even the implied warranty of</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> * General Public License for more details.</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> * You should have received a copy of the GNU General Public License</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> * along with this program; if not, write to the Free Software</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#ifndef UKF_SAMPLES_H</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#define UKF_SAMPLES_H</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &lt;gsl/gsl_vector.h&gt;</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &lt;gsl/gsl_matrix.h&gt;</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &lt;gsl/gsl_errno.h&gt;</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &lt;gsl/gsl_sort_vector_double.h&gt;</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &lt;gsl/gsl_permute_vector.h&gt;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &lt;gsl/gsl_randist.h&gt;</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;time.h&gt;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keyword">namespace </span>ukf</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;{</div>
<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="namespaceukf_1_1samples.html">   36</a></span>&#160;    <span class="keyword">namespace </span>samples</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    {</div>
<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classukf_1_1samples_1_1RandomSample__1D.html">   42</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classukf_1_1samples_1_1RandomSample__1D.html">RandomSample_1D</a></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        {</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classukf_1_1samples_1_1RandomSample__1D.html#ac967684af719310f43e65121b8eda077">   45</a></span>&#160;            <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classukf_1_1samples_1_1RandomSample__1D.html#ac967684af719310f43e65121b8eda077">generateSample</a>(gsl_vector * samples, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nb_samples, <span class="keywordtype">double</span> <a class="code" href="namespaceukf_1_1math.html#acaa2c088a31957c32107da9c838c77bb">min</a>, <span class="keywordtype">double</span> <a class="code" href="namespaceukf_1_1math.html#af4ef51ae6ef8c8d19eba957802834d4d">max</a>, <span class="keywordtype">double</span> delta)</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;            {</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;                <span class="keywordflow">if</span>(samples-&gt;size != nb_samples)</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;                {</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                    std::cerr &lt;&lt; <span class="stringliteral">&quot;[ERROR] RandomSample_1D : samples should be allocated to the size of the requested number of samples&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;                    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                }</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;                <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; nb_samples ; i++)</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;                    gsl_vector_set(samples, i, min + floor((max - min)*rand()/<span class="keywordtype">double</span>(RAND_MAX)/delta)    * delta  );</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;            }</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        };</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classukf_1_1samples_1_1RandomSample__2D.html">   63</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classukf_1_1samples_1_1RandomSample__2D.html">RandomSample_2D</a></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classukf_1_1samples_1_1RandomSample__2D.html#a42337a02873b7754f40a7b574e3bdfcc">   66</a></span>&#160;            <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classukf_1_1samples_1_1RandomSample__2D.html#a42337a02873b7754f40a7b574e3bdfcc">generateSample</a>(gsl_vector * samples, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nb_samples, <span class="keywordtype">double</span> minx, <span class="keywordtype">double</span> maxx, <span class="keywordtype">double</span> deltax, <span class="keywordtype">double</span> miny, <span class="keywordtype">double</span> maxy, <span class="keywordtype">double</span> deltay)</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;            {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;                <span class="keywordflow">if</span>(samples-&gt;size != 2*nb_samples)</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;                {</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;                    std::cerr &lt;&lt; <span class="stringliteral">&quot;[ERROR] RandomSample_2D : samples should be allocated to the size of the 2 times the requested number of samples&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;                    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;                }</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;                gsl_vector_view vec_view = gsl_vector_subvector_with_stride (samples, 0, 2, nb_samples);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;                <a class="code" href="classukf_1_1samples_1_1RandomSample__1D.html#ac967684af719310f43e65121b8eda077">RandomSample_1D::generateSample</a>(&amp;vec_view.vector, nb_samples, minx, maxx, deltax);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;                vec_view = gsl_vector_subvector_with_stride (samples, 1, 2, nb_samples);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                <a class="code" href="classukf_1_1samples_1_1RandomSample__1D.html#ac967684af719310f43e65121b8eda077">RandomSample_1D::generateSample</a>(&amp;vec_view.vector, nb_samples, miny, maxy, deltay);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;            }</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        };</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classukf_1_1samples_1_1RandomSample__3D.html">   84</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classukf_1_1samples_1_1RandomSample__3D.html">RandomSample_3D</a></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classukf_1_1samples_1_1RandomSample__3D.html#ac848862855e615c9aca62b1787a0471b">   87</a></span>&#160;            <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classukf_1_1samples_1_1RandomSample__3D.html#ac848862855e615c9aca62b1787a0471b">generateSample</a>(gsl_vector * samples, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nb_samples, <span class="keywordtype">double</span> minx, <span class="keywordtype">double</span> maxx, <span class="keywordtype">double</span> deltax, <span class="keywordtype">double</span> miny, <span class="keywordtype">double</span> maxy, <span class="keywordtype">double</span> deltay, <span class="keywordtype">double</span> minz, <span class="keywordtype">double</span> maxz, <span class="keywordtype">double</span> deltaz)</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;            {</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                <span class="keywordflow">if</span>(samples-&gt;size != 3*nb_samples)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                    std::cerr &lt;&lt; <span class="stringliteral">&quot;[ERROR] RandomSample_2D : samples should be allocated to the size of the 2 times the requested number of samples&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                gsl_vector_view vec_view = gsl_vector_subvector_with_stride (samples, 0, 3, nb_samples);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                <a class="code" href="classukf_1_1samples_1_1RandomSample__1D.html#ac967684af719310f43e65121b8eda077">RandomSample_1D::generateSample</a>(&amp;vec_view.vector, nb_samples, minx, maxx, deltax);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                vec_view = gsl_vector_subvector_with_stride (samples, 1, 3, nb_samples);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                <a class="code" href="classukf_1_1samples_1_1RandomSample__1D.html#ac967684af719310f43e65121b8eda077">RandomSample_1D::generateSample</a>(&amp;vec_view.vector, nb_samples, miny, maxy, deltay);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                vec_view = gsl_vector_subvector_with_stride (samples, 2, 3, nb_samples);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                <a class="code" href="classukf_1_1samples_1_1RandomSample__1D.html#ac967684af719310f43e65121b8eda077">RandomSample_1D::generateSample</a>(&amp;vec_view.vector, nb_samples, minz, maxz, deltaz);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;            }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        };</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classukf_1_1samples_1_1MaximumIndexes__1D.html">  107</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classukf_1_1samples_1_1MaximumIndexes__1D.html">MaximumIndexes_1D</a></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classukf_1_1samples_1_1MaximumIndexes__1D.html#a444039c203c3c2b24386ec1070afe7ce">  110</a></span>&#160;            <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classukf_1_1samples_1_1MaximumIndexes__1D.html#a444039c203c3c2b24386ec1070afe7ce">generateSample</a>(gsl_vector * v, gsl_vector * indexes_samples, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nb_samples)</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;            {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                <span class="keywordflow">if</span>(indexes_samples-&gt;size != nb_samples)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                {</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                    std::cerr &lt;&lt; <span class="stringliteral">&quot;[ERROR] MaximumIndexes_1D : samples should be allocated to the size of the requested number of samples&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                }</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;                <span class="keywordflow">if</span>(nb_samples &gt; v-&gt;size)</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;                {</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;                    std::cerr &lt;&lt; <span class="stringliteral">&quot;[ERROR] MaximumIndexes_1D : the vector v must hold at least nb_samples elements&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;                gsl_permutation * p = gsl_permutation_alloc(v-&gt;size);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                gsl_sort_vector_index(p,v);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; nb_samples ; i++)</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;                    gsl_vector_set(indexes_samples, i, gsl_permutation_get(p, p-&gt;size - i - 1));</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;                gsl_permutation_free(p);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;            }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        };</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classukf_1_1samples_1_1MaximumIndexes__2D.html">  135</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classukf_1_1samples_1_1MaximumIndexes__2D.html">MaximumIndexes_2D</a></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        {</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classukf_1_1samples_1_1MaximumIndexes__2D.html#a8c878da1c4ce7dc36446367296d19213">  138</a></span>&#160;            <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classukf_1_1samples_1_1MaximumIndexes__2D.html#a8c878da1c4ce7dc36446367296d19213">generateSample</a>(gsl_matrix * m, gsl_vector * indexes_samples, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nb_samples)</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;            {</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;                <span class="keywordflow">if</span>(indexes_samples-&gt;size != 2*nb_samples)</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;                    std::cerr &lt;&lt; <span class="stringliteral">&quot;[ERROR] MaximumIndexes_2D : samples should be allocated to the size of 2 times the requested number of samples&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;                    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;                }</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                <span class="keywordflow">if</span>(nb_samples &gt; m-&gt;size1 * m-&gt;size2 )</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                    std::cerr &lt;&lt; <span class="stringliteral">&quot;[ERROR] MaximumIndexes_2D : the vector v must hold at least nb_samples elements&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                gsl_permutation * p = gsl_permutation_alloc(m-&gt;size1 * m-&gt;size2);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;                <span class="comment">// We cast the matrix in a vector ordered in row-major and get the permutation to order the data by increasing value</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;                gsl_vector_view vec_view = gsl_vector_view_array(m-&gt;data,m-&gt;size1 * m-&gt;size2);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;                gsl_sort_vector_index(p,&amp;vec_view.vector);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                <span class="comment">// The indexes stored in p are in row-major order</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                <span class="comment">// we then convert the nb_samples first indexes into matrix indexes and copy them in indexes_samples</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                <span class="keywordtype">int</span> k,l;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; nb_samples ; i++)</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                {</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                    <span class="comment">// Line</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                    k = gsl_permutation_get(p,p-&gt;size - i - 1) / m-&gt;size2;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                    <span class="comment">// Column</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                    l = gsl_permutation_get(p,p-&gt;size - i - 1) % m-&gt;size2;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                    gsl_vector_set(indexes_samples, 2 * i, k);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;                    gsl_vector_set(indexes_samples, 2 * i + 1, l);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;                }</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;                gsl_permutation_free(p);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;            }</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        };</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;</div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classukf_1_1samples_1_1DistributionSample__1D.html">  177</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classukf_1_1samples_1_1DistributionSample__1D.html">DistributionSample_1D</a></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        {</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classukf_1_1samples_1_1DistributionSample__1D.html#a11fe8221b93a76f7436b4be8f3188569">  180</a></span>&#160;            <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classukf_1_1samples_1_1DistributionSample__1D.html#a11fe8221b93a76f7436b4be8f3188569">generateSample</a>(gsl_vector * v, gsl_vector * indexes_samples, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nb_samples)</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;            {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;                <span class="keywordflow">if</span>(indexes_samples-&gt;size != nb_samples)</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;                {</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                    std::cerr &lt;&lt; <span class="stringliteral">&quot;[ERROR] RandomSample_1D : samples should be allocated to the size of the requested number of samples&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;                    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;                <span class="comment">// Generating nb_samples samples from an array of weights for each index is easily done in the gsl with gsl_ran_discrete_* methods</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;                <span class="comment">// the weights v do not need to add up to one</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;                gsl_rng * r = gsl_rng_alloc(gsl_rng_default);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;                <span class="comment">// Init the random seed</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;                gsl_rng_set(r, time(NULL));</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                gsl_ran_discrete_t * ran_pre = gsl_ran_discrete_preproc(v-&gt;size, v-&gt;data);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;                <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; nb_samples ; i++)</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;                    gsl_vector_set(indexes_samples, i , gsl_ran_discrete(r, ran_pre));</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;                gsl_ran_discrete_free(ran_pre);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;                gsl_rng_free(r);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;            }</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        };</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;</div>
<div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="classukf_1_1samples_1_1DistributionSample__2D.html">  206</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classukf_1_1samples_1_1DistributionSample__2D.html">DistributionSample_2D</a></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        {</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classukf_1_1samples_1_1DistributionSample__2D.html#afd0af7c5bf958b76735a75629b7d6ed2">  209</a></span>&#160;            <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classukf_1_1samples_1_1DistributionSample__2D.html#afd0af7c5bf958b76735a75629b7d6ed2">generateSample</a>(gsl_matrix * m, gsl_vector * indexes_samples, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nb_samples)</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;            {</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;                <span class="keywordflow">if</span>(indexes_samples-&gt;size != 2*nb_samples)</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;                {</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;                    std::cerr &lt;&lt; <span class="stringliteral">&quot;[ERROR] RandomSample_1D : samples should be allocated to the size of the requested number of samples&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;                    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;                }</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;                <span class="comment">// To generate 2D samples according to a matrix of weights</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;                <span class="comment">// we simply cast the matrix into a vector, ask DistributionSample_1D to do the job</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;                <span class="comment">// and then convert the linear row-major indexes back into 2D indexes</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                gsl_vector * samples_tmp = gsl_vector_alloc(nb_samples);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;                gsl_vector_view vec_view = gsl_vector_view_array(m-&gt;data,m-&gt;size1 * m-&gt;size2);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;                <a class="code" href="classukf_1_1samples_1_1DistributionSample__1D.html#a11fe8221b93a76f7436b4be8f3188569">DistributionSample_1D::generateSample</a>(&amp;vec_view.vector, samples_tmp, nb_samples);</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;                <span class="keywordtype">int</span> k,l;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;                <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; nb_samples ; i++)</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;                {</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;                    k = int(gsl_vector_get(samples_tmp,i)) / m-&gt;size2;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;                    l = int(gsl_vector_get(samples_tmp,i)) % m-&gt;size2;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;                    gsl_vector_set(indexes_samples, 2*i, k);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;                    gsl_vector_set(indexes_samples, 2*i+1, l);</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;                }</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;                gsl_vector_free(samples_tmp);</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;            }</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        };</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    }</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;}</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="preprocessor">#endif // UKF_SAMPLES_H</span></div>
<div class="ttc" id="classukf_1_1samples_1_1MaximumIndexes__1D_html"><div class="ttname"><a href="classukf_1_1samples_1_1MaximumIndexes__1D.html">ukf::samples::MaximumIndexes_1D</a></div><div class="ttdoc">Extract the indexes of the nb_samples highest values of a vector Be carefull, this function is extrac...</div><div class="ttdef"><b>Definition:</b> ukf_samples.h:107</div></div>
<div class="ttc" id="classukf_1_1samples_1_1RandomSample__3D_html_ac848862855e615c9aca62b1787a0471b"><div class="ttname"><a href="classukf_1_1samples_1_1RandomSample__3D.html#ac848862855e615c9aca62b1787a0471b">ukf::samples::RandomSample_3D::generateSample</a></div><div class="ttdeci">static void generateSample(gsl_vector *samples, unsigned int nb_samples, double minx, double maxx, double deltax, double miny, double maxy, double deltay, double minz, double maxz, double deltaz)</div><div class="ttdef"><b>Definition:</b> ukf_samples.h:87</div></div>
<div class="ttc" id="classukf_1_1samples_1_1RandomSample__2D_html"><div class="ttname"><a href="classukf_1_1samples_1_1RandomSample__2D.html">ukf::samples::RandomSample_2D</a></div><div class="ttdoc">Generate 2D samples according to a uniform distribution and put them alternativaly at the odd/even po...</div><div class="ttdef"><b>Definition:</b> ukf_samples.h:63</div></div>
<div class="ttc" id="classukf_1_1samples_1_1MaximumIndexes__1D_html_a444039c203c3c2b24386ec1070afe7ce"><div class="ttname"><a href="classukf_1_1samples_1_1MaximumIndexes__1D.html#a444039c203c3c2b24386ec1070afe7ce">ukf::samples::MaximumIndexes_1D::generateSample</a></div><div class="ttdeci">static void generateSample(gsl_vector *v, gsl_vector *indexes_samples, unsigned int nb_samples)</div><div class="ttdef"><b>Definition:</b> ukf_samples.h:110</div></div>
<div class="ttc" id="namespaceukf_1_1math_html_acaa2c088a31957c32107da9c838c77bb"><div class="ttname"><a href="namespaceukf_1_1math.html#acaa2c088a31957c32107da9c838c77bb">ukf::math::min</a></div><div class="ttdeci">double min(double a, double b)</div><div class="ttdef"><b>Definition:</b> ukf_math.h:35</div></div>
<div class="ttc" id="namespaceukf_1_1math_html_af4ef51ae6ef8c8d19eba957802834d4d"><div class="ttname"><a href="namespaceukf_1_1math.html#af4ef51ae6ef8c8d19eba957802834d4d">ukf::math::max</a></div><div class="ttdeci">double max(double a, double b)</div><div class="ttdef"><b>Definition:</b> ukf_math.h:40</div></div>
<div class="ttc" id="classukf_1_1samples_1_1MaximumIndexes__2D_html"><div class="ttname"><a href="classukf_1_1samples_1_1MaximumIndexes__2D.html">ukf::samples::MaximumIndexes_2D</a></div><div class="ttdoc">Extract the indexes of the nb_samples highest values of a matrix Be carefull, this function is extrac...</div><div class="ttdef"><b>Definition:</b> ukf_samples.h:135</div></div>
<div class="ttc" id="classukf_1_1samples_1_1DistributionSample__2D_html"><div class="ttname"><a href="classukf_1_1samples_1_1DistributionSample__2D.html">ukf::samples::DistributionSample_2D</a></div><div class="ttdoc">Generate 2D samples according to a discrete matricial distribution. </div><div class="ttdef"><b>Definition:</b> ukf_samples.h:206</div></div>
<div class="ttc" id="classukf_1_1samples_1_1RandomSample__1D_html_ac967684af719310f43e65121b8eda077"><div class="ttname"><a href="classukf_1_1samples_1_1RandomSample__1D.html#ac967684af719310f43e65121b8eda077">ukf::samples::RandomSample_1D::generateSample</a></div><div class="ttdeci">static void generateSample(gsl_vector *samples, unsigned int nb_samples, double min, double max, double delta)</div><div class="ttdef"><b>Definition:</b> ukf_samples.h:45</div></div>
<div class="ttc" id="classukf_1_1samples_1_1RandomSample__1D_html"><div class="ttname"><a href="classukf_1_1samples_1_1RandomSample__1D.html">ukf::samples::RandomSample_1D</a></div><div class="ttdoc">Generate 1D samples according to a uniform distribution : </div><div class="ttdef"><b>Definition:</b> ukf_samples.h:42</div></div>
<div class="ttc" id="classukf_1_1samples_1_1MaximumIndexes__2D_html_a8c878da1c4ce7dc36446367296d19213"><div class="ttname"><a href="classukf_1_1samples_1_1MaximumIndexes__2D.html#a8c878da1c4ce7dc36446367296d19213">ukf::samples::MaximumIndexes_2D::generateSample</a></div><div class="ttdeci">static void generateSample(gsl_matrix *m, gsl_vector *indexes_samples, unsigned int nb_samples)</div><div class="ttdef"><b>Definition:</b> ukf_samples.h:138</div></div>
<div class="ttc" id="classukf_1_1samples_1_1RandomSample__2D_html_a42337a02873b7754f40a7b574e3bdfcc"><div class="ttname"><a href="classukf_1_1samples_1_1RandomSample__2D.html#a42337a02873b7754f40a7b574e3bdfcc">ukf::samples::RandomSample_2D::generateSample</a></div><div class="ttdeci">static void generateSample(gsl_vector *samples, unsigned int nb_samples, double minx, double maxx, double deltax, double miny, double maxy, double deltay)</div><div class="ttdef"><b>Definition:</b> ukf_samples.h:66</div></div>
<div class="ttc" id="classukf_1_1samples_1_1RandomSample__3D_html"><div class="ttname"><a href="classukf_1_1samples_1_1RandomSample__3D.html">ukf::samples::RandomSample_3D</a></div><div class="ttdoc">Generate 3D samples according to a uniform distribution and put them alternativaly at the odd/even po...</div><div class="ttdef"><b>Definition:</b> ukf_samples.h:84</div></div>
<div class="ttc" id="classukf_1_1samples_1_1DistributionSample__1D_html_a11fe8221b93a76f7436b4be8f3188569"><div class="ttname"><a href="classukf_1_1samples_1_1DistributionSample__1D.html#a11fe8221b93a76f7436b4be8f3188569">ukf::samples::DistributionSample_1D::generateSample</a></div><div class="ttdeci">static void generateSample(gsl_vector *v, gsl_vector *indexes_samples, unsigned int nb_samples)</div><div class="ttdef"><b>Definition:</b> ukf_samples.h:180</div></div>
<div class="ttc" id="classukf_1_1samples_1_1DistributionSample__2D_html_afd0af7c5bf958b76735a75629b7d6ed2"><div class="ttname"><a href="classukf_1_1samples_1_1DistributionSample__2D.html#afd0af7c5bf958b76735a75629b7d6ed2">ukf::samples::DistributionSample_2D::generateSample</a></div><div class="ttdeci">static void generateSample(gsl_matrix *m, gsl_vector *indexes_samples, unsigned int nb_samples)</div><div class="ttdef"><b>Definition:</b> ukf_samples.h:209</div></div>
<div class="ttc" id="classukf_1_1samples_1_1DistributionSample__1D_html"><div class="ttname"><a href="classukf_1_1samples_1_1DistributionSample__1D.html">ukf::samples::DistributionSample_1D</a></div><div class="ttdoc">Generate 1D samples according to a discrete vectorial distribution. </div><div class="ttdef"><b>Definition:</b> ukf_samples.h:177</div></div>
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